Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning

被引：10
|
作者：
Shen, Suiyuan [1 ]
Xu, Jinfa [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Natl Key Lab Rotorcraft Aeromech, Nanjing, Peoples R China
来源：
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING | 2020年 / 2020卷
关键词：
DESIGN;
D O I：
10.1155/2020/8876177
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
The internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system's dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneously, an adaptive genetic algorithm-particle swarm optimization (AGA-PSO) is used to optimize the controller parameters to solve the problem that the controller parameters are difficult to tune. The performance of the proposed ADRC is compared with that of the sliding mode controller (SMC). The simulations revealed that the dynamic performance and robustness of the ADRC is better than that of the SMC.
引用
收藏
页数：15
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